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Towards Usable Secure
   Requirements
     Engineering
      with IRIS
          Shamal Faily
      University of Oxford
How rational are
  security and usability
     requirements?



     Stapes USB
 Combination Lock
                        PGP
(no longer available)
HCI can help
HCI can help
  Ethno-
Methodology

                   Contextual                    Interaction
                    Design                      Programming
                                                               Activity
                                                               Theory

  User
                                  Grounded
Centered
                                   Design
 Design



                        Task
                       Analysis              Participative      Usage
                                               Design          Centered
                                                                Design
        Value-
       Centered
         HCI




           Horses for courses?
HCI can help
  Ethno-
Methodology




                                                     s?
                       Contextual                        Interaction




                                                      t
                        Design




                                                   en
                                                        Programming
                                                                       Activity




                                             m
                                                                       Theory




                                           re
  User




                                        ui
                                        Grounded
Centered




                                         q
                                         Design
 Design



                                      re
                                 e
                               th
                            Task
                            t
                                                     Participative      Usage
                         ou

                           Analysis
                                                       Design          Centered
                      ab



                                                                        Design
        Value-
       Centered
                     t
                  ha




         HCI
                  W




           Horses for courses?
HCI can help
  Ethno-
Methodology




                                                     s?
                       Contextual                        Interaction

                      W s



                                                      t
                        Design




                                                   en
                                                        Programming
                                                                       Activity




                                             m
                       ha u
                                                                       Theory




                                           re
  User

                         t a ri
                                        ui
                                        Grounded
Centered




                                         q
                                         Design
 Design



                                      re
                            bo ?
                            ec
                                 e
                               th
                               ut
                            Task
                            t
                                                     Participative      Usage
                         ou

                           Analysis
                                  ty
                                                       Design

                                  th
                                                                       Centered
                      ab



                                                                        Design
        Value-
       Centered
                                     e
                     t
                  ha




         HCI
                  W




           Horses for courses?
It’s just an engineering
        problem?
        “there are many tensions that engineers have still not
           begun to explore. For example, ease of use is a
            priority in control systems design, and security
         usability is known to be hard. Will we see conflicts
          between security and safety usability? As a typical
         plant operator earns less than $40,000, the ‘Homer
         Simpson’ problem is a real one. How do we design
                 security that Homer can use safely?”

                                  Anderson, R., Fuloria, S. Security Economics and
                               Critical National Infrastruture. In Eighth Workshop
                                 on the Economics of Information Security (WEIS
                                                                      2009). 2009
Current problems
• How do we represent different
  environments?
Current problems
     • How do we represent different
           environments?

Confidentiality: High
Accountability: High




                       Office after security awareness
                                  seminar
Current problems
     • How do we represent different
           environments?

Availability : High




                       6 PM Friday and
                       running for the
                            train
Current problems
    • How do we represent different
          environments?


Availability : Low                           Availability : Low




                         8.15 AM Monday -
                           on the train to
                                work
Current problems
Current problems
• Values and Context
                BEING
                HUMAN
                HUMAN-COMPUTER INTERACTION
                IN THE YEAR 2020
Current problems
• Values and Contextfor lack of industrial uptake!
           Reasons
• Goals
Current problems
• Values and Contextfor lack of industrial uptake!
           Reasons
• Goals




                                   ts?
                                en
                                m
                              re
                           ui
                            q
                         re
                       e
                     th
                     t
                  ou
                ab
                t
             ha
           W
Current problems
• Values and Contextfor lack of industrial uptake!
           Reasons
• Goals
               W



                                   ts?
                                en
                    ha cu


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                               re
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                            ui
                se

                            q
                        ebo ty?
                         reut
                     tth

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                  ou



                                 e
                ab
                t
             ha
           W
Some Good News
• Environments and Contexts of Use
                Environment

             User               Task


          Affordance

                       Object
Some Good News


             Elicit                           Validate &
 Scope                    Analyse
           Empirical /              Specify    Manage
Problem                  Problem
           Conceptual               System     System
Domain                   Concerns
             Data                             Evolution
Some Good News




                                            ts?
                                         en
                                         m
                                       re
                                   qui
                                re
             Elicit                                    Validate &
 Scope                         Analyse
           Empirical /                       Specify    Manage

                          he
Problem                       Problem
           Conceptual    tt                  System     System
Domain                        Concerns
             Data                                      Evolution
                         ou
                 t ab
              ha
           W
What is IRIS?
       A framework for specifying software systems that are
                secure for their contexts of use.

Context of Use



                                        Goal

                     Task                              Persona
                                           Misuse
                                         1..*
                            1..*
                                             Case
       Threat        1..*                     1
                                                  1..*
       Motive                                     Accept           Transfer      Mitigate
                                   *      *                        *Response    1..* Persona
            Asset*
              1..*             Attacker*        Task                               *
                                                          1..*
   Capability                   1..* *      1 *
                                                11                      1          *
                     1..*        *         Risk *           * Response           Goal
Risk          1..*             *    Environment 1*
                                            *               1..*        Asset      *
                                   *       Scenario
                                               *
                               * 1               1
                                *           *
                                               1      1..*                    *
                  1..*        Threat *        Vulnerability             Requirement
  Vulnerability                * *             1*                  4
                                                           Countermeasure     *
                         1..*                    1..*
                                   1..*1..*  Misuse             Usability *
                  Misuse               Asset  Case              Attribute
                                                                      Countermeasure
                     Case
                                                   *   Attacker          *
                                               *
                                       Obstacle                                   *
                               1..4
                               Security 0..4
                               Attribute




                      A Meta-Model for
                       Usable Secure
                        Requirements
                         Engineering
What is IRIS?
       A framework for specifying software systems that are
                secure for their contexts of use.
                                                                                                                                                                                                                                                                                                                                     Empirical Data                                                                                                                                                                                           Participant data



Context of Use



                                            Goal
                                                                                                                 Establish
                     Task                                  Persona                                                Scope
                                              Misuse
                                            1..*
                            1..*
                                                Case
       Threat        1..*                        1
                                                     1..*
                                                                                                                                CAIRIS
       Motive                                        Accept            Transfer      Mitigate
                                *     *                                *Response    1..* Persona                               Database
            Asset*
              1..*             Attacker                Task                            *
                                             *                1..*
   Capability                      1..* *       1 *
                                                    11                      1          *                         Investigate
                     1..*           *          Risk *           * Response           Goal
Risk          1..*             *        Environment 1*
                                                *               1..*        Asset      *                          Contexts
                                   *       Scenario
                                               *
                               * 1               1
                                *           *
                                               1      1..*                    *
                  1..*        Threat *        Vulnerability             Requirement
  Vulnerability                * *             1*                  4
                                                           Countermeasure     *                                                                                                                                                                                                                                                           9*,*"(2+.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NeuroGrid data upload/data download
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Requirements Specification

                         1..*                    1..*                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     i




                                                                                                            Requirements
                                                                                                                                   %2().1(4",*45"923(&2*+"+*,*                                                                                                     %2().1(4",*45"7?&2*+"+*,*




                                   1..*1..*  Misuse             Usability *                                                                                                                                           :&').
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                  Misuse               Asset  Case              Attribute
                                                                      Countermeasure                         Workshops                                                                                                      12(#+,'$()*)$+(',+-+'-#'.%/"#0"),
                                                                                                                                                                                                                                                                                           !$$#""
                                                                                                                                                                                                                                                                             !"#$%&'()*+,-.'(%#/-#00+**
                                                                                                                                                                                                                                                                                               3#4*(#+,'+*+(5&)&',+-+                             ;%$/"%',+-+'+*+(5&)&
                                                                                                                                                                                                                                                                                                                                                                          !$$#""
                                                                                                                                                                                                                                                                                                                                                                                                 ;%$/"%'4#"?@#4'&/A7)&&)#*




                     Case
                                                       *   Attacker          *                                                                     %&'.(,"32154,*,'2(              :(*&;4'4"+*,*
                                                                                                                                                                                                            !$$#""
                                                                                                                                                                                                                                                                                           %&'(')*&"+*,*                                                                           -215<23



                                                   *
                                                                                      *
                               1..4 Obstacle
                                                                                                                                                                        !$$#""
                                                                                                                                                        12(#+,'+/-8#")&+-)#*              6*#*57)&%',+-+                            ;%$/"%',+-+'-"+*&7)&&)#*                                   .%/"#0"),'2#"-+('+$$%&&                             3#4*(#+,'+/-8#")&+-)#*




                                                                                                                                                                                                                                                                                                                                                                                      3.4(2',A*5(*))/




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                                                                                                                                                                                                   !$$#""

                               Security 0..4                                                                                                                                93<=               93<>
                                                                                                                                                                                                                -./0/1234.1
                                                                                                                                                                                                                                  !<=                        !<>                          .%/"#0"),'/&%"'+/-8#")&+-)#*                                  9%"-):$+-%')*&-+((+-)#*

                                                                                                                                                                                                                                                                                                                                                                              %2().1(4"2/4,*)&."%.1,'8)*,."4=*1'(>


                               Attribute                                                                                                                                                 1+(%)20#%+-*&#()"3                               !""                                       1'"%('/-4+5-5('4*+(
                                                                                                                                                                                                                                                ADC'.(+,6*28+B./(1)<,!)/+(742+),@44)11
                                                                                                                                                                                                                                                                                                                       1*+/-8#")&%,'2#"-+('+$$%&&
                                                                                                                                                                                                                                                                                                                                                                                             !2/.'



                                                                                                                                                                                                                                                                                                                                                                                             :(#$,$/#"%-0+(%)20#%+-#../)0#%)'"
                                                                                                                                                                                                                                                                                                                                                                                                         !!"#$%&'()*+,-./,)&*01$&,.211,++.&'),$&,#+33
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       NeuroGrid data upload/data download Requirements
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Specification
                                                                                                                                                                                                                      !""           #""                                                                                                                                                                                     &#$
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  E)9#9/.-1)/



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                                                                                                                                                                                                                                                                9%"-):$+-%'&8+")*B                                        9#*-"#('4%A'A"#4&%"                                                F"+/,/(+*-'$%"-):$+-%'+22()$+-)#*

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                                                                                                     contexts]
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                      A Meta-Model for                                                                                                                                                                                                                                                                                                Models                                                                                                                                                                                    Requirements Documentation



                       Usable Secure
                        Requirements                                                                 Design Method                                                                                                                                                                                                                                                                                                        Tool-support
                         Engineering
Relevant
Concepts
Requirements
                                 Engineering



                        Requirements       GORE (KAOS)




 User-
Centered
           Scenarios    Relevant                             Misuse-Cases     Security
                                                                            Requirements
 Design
           Personas     Concepts                             Meta-Models
                                                                             Engineering



                                                         Risk
                 Environments
                                                        Analysis
                            Tasks      Responsibility
                                        Modelling
                                                          Information
                  HCI
                                                            Security
Example: Modifying PLC
         Software
• Programmable Logic
  Controllers (PLC) control
  clean and waste water
  processes.
• Modifications may be
  made under duress.
• Accidental or deliberate
  errors can be catastrophic.
Example: Modifying PLC
         Software
• Programmable Logic
  Controllers (PLC) control
  clean and waste water
  processes.
• Modifications may be
  made under duress.
• Accidental or deliberate
  errors can be catastrophic.   © Reed Business Information 2010
Scoping the Problem
            Domain
                                                       Sys
                                                      Admin
                          Configuration
                             Data



                            SCADA
                           HMI Data




• Planned and Unplanned
                                          Software
                                         Repository                   Portal
                          PLC Software




                           Telemetry



  Environments
                           Software


                                                             VPN   Corporate Network




                                                  Laptop               Access PC



                             Software
                            Repository
                             Manager




                                                Instrument
                                                Technician
Persona building
Persona building
Empirical data
                   Grounded Theory


                                                               Affinity
                                                              Modelling
                                                               Organisational
                                                                                                                Context
                                                               Characteristics
                                                                           Technology                  Planned            Unplanned
                                                    Governance (3)                                   change (11)          change (3)
                                                                         Demarcation (6)
                                                         Role                Organisational
                                                    responsibility (8)        norms (34)


                                                                                                                   Supporting
                                                          Tacit Knowledge                                            Roles
                                        Learned           Site knowledge         Configuration        Sub-contractor         Commissioning
                                     experience (13)             (7)             knowledge (7)        support (5)               (6)
                                              Tool knowledge        Backup norms
                                                    (13)                (24)



                                                             Vulnerability                                             Threat

                                      Physical security    Tool clunkiness                              Petty theft (4)     Vandalism (2)
                                                                                 Task fatigue (5)
                                       perception (6)             (9)
                                                                                                          Technical              Social
                                         Network           Remote access               PLC               insider (1)         engineering (3)
                                       availability (4)         (6)              proliferation (4)
                                                    Multiple         Legacy concern
                                                  changers (2)            (12)
Persona building
Workshop
Walkthrough
Workshop
             Walkthrough
• Persona Validation
                                                                 Alan

                                         • “There’s a lot of ignorance out there”
                                         • Conscious of vulnerabilities arising from
                                                complex tools.
                                         • Hopes the repository will encourage a
                                                standardised approach to software changes
                                                and backups.


                       Wednesday, 16 December 2009
Workshop
             Walkthrough
• Persona Validation
• Asset Modelling
Workshop
             Walkthrough
• Persona Validation
• Asset Modelling
• Task Analysis
Workshop
             Walkthrough
• Persona Validation
• Asset Modelling
• Task Analysis
• Goal Modelling
Workshop
             Walkthrough
• Persona Validation
• Asset Modelling
• Task Analysis
• Goal Modelling
• Requirements
  Specification
Workshop
              Walkthrough
• Persona Validation
• Asset Modelling
• Task Analysis
• Goal Modelling
• Requirements
  Specification
• Risk Analysis
Observations
• A natural process to participants.
• Modelling environments increases
  participant sensitivity to them.
• Risk Analysis is more about the destination
  than the journey.
• We can’t replace creativity, but we can help
  innovation.
Thank you for listening!
• Any questions?


    Acknowledgements
This research was funded by the
EPSRC CASE Studentship R07437/
CN001.
We are also grateful to Qinetiq Ltd
for their sponsorship of this work.

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Resg2010 key

  • 1. Towards Usable Secure Requirements Engineering with IRIS Shamal Faily University of Oxford
  • 2. How rational are security and usability requirements? Stapes USB Combination Lock PGP (no longer available)
  • 4. HCI can help Ethno- Methodology Contextual Interaction Design Programming Activity Theory User Grounded Centered Design Design Task Analysis Participative Usage Design Centered Design Value- Centered HCI Horses for courses?
  • 5. HCI can help Ethno- Methodology s? Contextual Interaction t Design en Programming Activity m Theory re User ui Grounded Centered q Design Design re e th Task t Participative Usage ou Analysis Design Centered ab Design Value- Centered t ha HCI W Horses for courses?
  • 6. HCI can help Ethno- Methodology s? Contextual Interaction W s t Design en Programming Activity m ha u Theory re User t a ri ui Grounded Centered q Design Design re bo ? ec e th ut Task t Participative Usage ou Analysis ty Design th Centered ab Design Value- Centered e t ha HCI W Horses for courses?
  • 7. It’s just an engineering problem? “there are many tensions that engineers have still not begun to explore. For example, ease of use is a priority in control systems design, and security usability is known to be hard. Will we see conflicts between security and safety usability? As a typical plant operator earns less than $40,000, the ‘Homer Simpson’ problem is a real one. How do we design security that Homer can use safely?” Anderson, R., Fuloria, S. Security Economics and Critical National Infrastruture. In Eighth Workshop on the Economics of Information Security (WEIS 2009). 2009
  • 8. Current problems • How do we represent different environments?
  • 9. Current problems • How do we represent different environments? Confidentiality: High Accountability: High Office after security awareness seminar
  • 10. Current problems • How do we represent different environments? Availability : High 6 PM Friday and running for the train
  • 11. Current problems • How do we represent different environments? Availability : Low Availability : Low 8.15 AM Monday - on the train to work
  • 13. Current problems • Values and Context BEING HUMAN HUMAN-COMPUTER INTERACTION IN THE YEAR 2020
  • 14. Current problems • Values and Contextfor lack of industrial uptake! Reasons • Goals
  • 15. Current problems • Values and Contextfor lack of industrial uptake! Reasons • Goals ts? en m re ui q re e th t ou ab t ha W
  • 16. Current problems • Values and Contextfor lack of industrial uptake! Reasons • Goals W ts? en ha cu m re t a ri ui se q ebo ty? reut tth th ou e ab t ha W
  • 17. Some Good News • Environments and Contexts of Use Environment User Task Affordance Object
  • 18. Some Good News Elicit Validate & Scope Analyse Empirical / Specify Manage Problem Problem Conceptual System System Domain Concerns Data Evolution
  • 19. Some Good News ts? en m re qui re Elicit Validate & Scope Analyse Empirical / Specify Manage he Problem Problem Conceptual tt System System Domain Concerns Data Evolution ou t ab ha W
  • 20. What is IRIS? A framework for specifying software systems that are secure for their contexts of use. Context of Use Goal Task Persona Misuse 1..* 1..* Case Threat 1..* 1 1..* Motive Accept Transfer Mitigate * * *Response 1..* Persona Asset* 1..* Attacker* Task * 1..* Capability 1..* * 1 * 11 1 * 1..* * Risk * * Response Goal Risk 1..* * Environment 1* * 1..* Asset * * Scenario * * 1 1 * * 1 1..* * 1..* Threat * Vulnerability Requirement Vulnerability * * 1* 4 Countermeasure * 1..* 1..* 1..*1..* Misuse Usability * Misuse Asset Case Attribute Countermeasure Case * Attacker * * Obstacle * 1..4 Security 0..4 Attribute A Meta-Model for Usable Secure Requirements Engineering
  • 21. What is IRIS? A framework for specifying software systems that are secure for their contexts of use. Empirical Data Participant data Context of Use Goal Establish Task Persona Scope Misuse 1..* 1..* Case Threat 1..* 1 1..* CAIRIS Motive Accept Transfer Mitigate * * *Response 1..* Persona Database Asset* 1..* Attacker Task * * 1..* Capability 1..* * 1 * 11 1 * Investigate 1..* * Risk * * Response Goal Risk 1..* * Environment 1* * 1..* Asset * Contexts * Scenario * * 1 1 * * 1 1..* * 1..* Threat * Vulnerability Requirement Vulnerability * * 1* 4 Countermeasure * 9*,*"(2+. NeuroGrid data upload/data download Requirements Specification 1..* 1..* i Requirements %2().1(4",*45"923(&2*+"+*,* %2().1(4",*45"7?&2*+"+*,* 1..*1..* Misuse Usability * :&'). !"" !"#$%&&'$()*)$+(',+-+'#*'.%/"#0"), !"" !"" #"" Misuse Asset Case Attribute Countermeasure Workshops 12(#+,'$()*)$+(',+-+'-#'.%/"#0"), !$$#"" !"#$%&'()*+,-.'(%#/-#00+** 3#4*(#+,'+*+(5&)&',+-+ ;%$/"%',+-+'+*+(5&)& !$$#"" ;%$/"%'4#"?@#4'&/A7)&&)#* Case * Attacker * %&'.(,"32154,*,'2( :(*&;4'4"+*,* !$$#"" %&'(')*&"+*,* -215<23 * * 1..4 Obstacle !$$#"" 12(#+,'+/-8#")&+-)#* 6*#*57)&%',+-+ ;%$/"%',+-+'-"+*&7)&&)#* .%/"#0"),'2#"-+('+$$%&& 3#4*(#+,'+/-8#")&+-)#* 3.4(2',A*5(*))/ "45($-.-$&$ !$$#"" Security 0..4 93<= 93<> -./0/1234.1 !<= !<> .%/"#0"),'/&%"'+/-8#")&+-)#* 9%"-):$+-%')*&-+((+-)#* %2().1(4"2/4,*)&."%.1,'8)*,."4=*1'(> Attribute 1+(%)20#%+-*&#()"3 !"" 1'"%('/-4+5-5('4*+( ADC'.(+,6*28+B./(1)<,!)/+(742+),@44)11 1*+/-8#")&%,'2#"-+('+$$%&& !2/.' :(#$,$/#"%-0+(%)20#%+-#../)0#%)'" !!"#$%&'()*+,-./,)&*01$&,.211,++.&'),$&,#+33 &#% NeuroGrid data upload/data download Requirements Specification !"" #"" &#$ E)9#9/.-1)/ 3.4(2',)*5(*))/(*5 25*1, 12(#+,',+-+ !"" !""" &./+2' 6*28+B./(1)<,!)/+(742+),@44)11 ".-*'.2<,<2+2 !"" !"" &)/1.*2',4)/+(742+) !'()*+,-./01+2+(.* 74.1"%.1,'8)*,. 621,*& 6.142(*&").1,'8)*,. 9%"-):$+-%'&8+")*B 9#*-"#('4%A'A"#4&%" F"+/,/(+*-'$%"-):$+-%'+22()$+-)#* !!"#$%&'()*+,-./,)&*01$&,.211,++.&'),$&,#+33 6(7#5($-.-$&$ [unresolved 61)/,!)/+(742+) @*2';1(1,<2+2 8945(*&."#$%&'()*+,-./,)&*01$&,.211,++ !)/+(742+),89(:8(+; >*?(1(9'),!.'')5) /$)(5 6C'.2<,<2+2 C;;'DE2(#)- 1*+--%*,%,'4#"?&-+-)#*'+$$%&& !)/+(742+),1B2/(*5 contexts] 677-89./')% !"#%%+",+,-4'(;*%#%)'"-#00+** !'(*(42',<2+2 !"#$ !"#% &2/+(2',2*.*;=(12+(.* A Meta-Model for Models Requirements Documentation Usable Secure Requirements Design Method Tool-support Engineering
  • 23. Requirements Engineering Requirements GORE (KAOS) User- Centered Scenarios Relevant Misuse-Cases Security Requirements Design Personas Concepts Meta-Models Engineering Risk Environments Analysis Tasks Responsibility Modelling Information HCI Security
  • 24. Example: Modifying PLC Software • Programmable Logic Controllers (PLC) control clean and waste water processes. • Modifications may be made under duress. • Accidental or deliberate errors can be catastrophic.
  • 25. Example: Modifying PLC Software • Programmable Logic Controllers (PLC) control clean and waste water processes. • Modifications may be made under duress. • Accidental or deliberate errors can be catastrophic. © Reed Business Information 2010
  • 26. Scoping the Problem Domain Sys Admin Configuration Data SCADA HMI Data • Planned and Unplanned Software Repository Portal PLC Software Telemetry Environments Software VPN Corporate Network Laptop Access PC Software Repository Manager Instrument Technician
  • 28. Persona building Empirical data Grounded Theory Affinity Modelling Organisational Context Characteristics Technology Planned Unplanned Governance (3) change (11) change (3) Demarcation (6) Role Organisational responsibility (8) norms (34) Supporting Tacit Knowledge Roles Learned Site knowledge Configuration Sub-contractor Commissioning experience (13) (7) knowledge (7) support (5) (6) Tool knowledge Backup norms (13) (24) Vulnerability Threat Physical security Tool clunkiness Petty theft (4) Vandalism (2) Task fatigue (5) perception (6) (9) Technical Social Network Remote access PLC insider (1) engineering (3) availability (4) (6) proliferation (4) Multiple Legacy concern changers (2) (12)
  • 31. Workshop Walkthrough • Persona Validation Alan • “There’s a lot of ignorance out there” • Conscious of vulnerabilities arising from complex tools. • Hopes the repository will encourage a standardised approach to software changes and backups. Wednesday, 16 December 2009
  • 32. Workshop Walkthrough • Persona Validation • Asset Modelling
  • 33. Workshop Walkthrough • Persona Validation • Asset Modelling • Task Analysis
  • 34. Workshop Walkthrough • Persona Validation • Asset Modelling • Task Analysis • Goal Modelling
  • 35. Workshop Walkthrough • Persona Validation • Asset Modelling • Task Analysis • Goal Modelling • Requirements Specification
  • 36. Workshop Walkthrough • Persona Validation • Asset Modelling • Task Analysis • Goal Modelling • Requirements Specification • Risk Analysis
  • 37. Observations • A natural process to participants. • Modelling environments increases participant sensitivity to them. • Risk Analysis is more about the destination than the journey. • We can’t replace creativity, but we can help innovation.
  • 38. Thank you for listening! • Any questions? Acknowledgements This research was funded by the EPSRC CASE Studentship R07437/ CN001. We are also grateful to Qinetiq Ltd for their sponsorship of this work.